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The dynamic coalition task allocation of heterogeneous multiple UAV agents is researched, which is divided into two parts. Firstly, the consensus based coalition algorithm(CBCA) is presented via consensus based bundle algorithm(CBBA), considering complex constraints of specific equipment requirements and coupling the relationships between the subtasks and the time windows. Secondly, three dynamic planning strategies are proposed in cope with appearance of new tasks during the allocation process. Finally, the feasibility and applicability of the present algorithm and dynamic planning strategies are validated in the scenario of a search and attack mission executed by multiple unmanned search aerial vehicles(USAVs) and unmanned combat aerial vehicles (UCAVs).

Dynamic Coalition Task Allocation of Heterogeneous Multiple Agents